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Unverified Commit 6c6b9293 authored by Carlos Mastalli's avatar Carlos Mastalli Committed by GitHub
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Merge pull request #78 from wxmerkt/topic/fix-anymal-kinova-srdf 

Fix Anymal-Kinova SRDF collision matrix
parents cac155e7 c2f03b59
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Stage: test
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robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
+ 194
− 50
View file @ 6c6b9293
...@@ -102,54 +102,198 @@ ...@@ -102,54 +102,198 @@
<joint name="j2s6s200_joint_6" value="0.0" /> <joint name="j2s6s200_joint_6" value="0.0" />
</group_state> </group_state>
<disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" /> <disable_collisions link1="LF_ADAPTER" link2="LF_FOOT" reason="Adjacent"/>
<disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never" /> <disable_collisions link1="LF_ADAPTER" link2="LF_HIP" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LF_FOOT" reason="Never" /> <disable_collisions link1="LF_ADAPTER" link2="LF_SHANK" reason="Adjacent"/>
<disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never" /> <disable_collisions link1="LF_ADAPTER" link2="LF_THIGH" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="RF_THIGH" reason="Never" /> <disable_collisions link1="LF_ADAPTER" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="RF_SHANK" reason="Never" /> <disable_collisions link1="LF_ADAPTER" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="RF_FOOT" reason="Never" /> <disable_collisions link1="LF_FOOT" link2="LF_HIP" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never" /> <disable_collisions link1="LF_FOOT" link2="LF_SHANK" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never" /> <disable_collisions link1="LF_FOOT" link2="LF_THIGH" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never" /> <disable_collisions link1="LF_FOOT" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never" /> <disable_collisions link1="LF_FOOT" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never" /> <disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" /> <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent"/>
<disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" /> <disable_collisions link1="LF_HIP" link2="LH_ADAPTER" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" /> <disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never"/>
<disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never"/>
<disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="base" link2="RH_HIP" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="RH_ADAPTER" reason="Never"/>
<disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="LH_THIGH" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RF_THIGH" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="RH_THIGH" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never"/>
<disable_collisions link1="LF_THIGH" link2="LF_SHANK" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="base" reason="Adjacent"/>
<disable_collisions link1="LH_THIGH" link2="LH_SHANK" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="imu_link" reason="Never"/>
<disable_collisions link1="RF_THIGH" link2="RF_SHANK" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RH_THIGH" link2="RH_SHANK" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="j2s6s200_link_2" reason="Never"/>
<disable_collisions link1="LF_SHANK" link2="LF_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="LH_SHANK" link2="LH_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="RF_SHANK" link2="RF_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_HIP" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RH_SHANK" link2="RH_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_SHANK" link2="LF_THIGH" reason="Adjacent"/>
<disable_collisions link1="LF_SHANK" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="LF_ADAPTER" link2="LF_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_SHANK" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="LH_ADAPTER" link2="LH_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_THIGH" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="RF_ADAPTER" link2="RF_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_THIGH" link2="LH_THIGH" reason="Never"/>
<disable_collisions link1="RH_ADAPTER" link2="RH_FOOT" reason="Adjacent" /> <disable_collisions link1="LF_THIGH" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="LF_THIGH" link2="RH_THIGH" reason="Never"/>
<disable_collisions link1="LF_ADAPTER" link2="LF_SHANK" reason="Adjacent" /> <disable_collisions link1="LF_THIGH" link2="base" reason="Default"/>
<disable_collisions link1="LH_ADAPTER" link2="LH_SHANK" reason="Adjacent" /> <disable_collisions link1="LH_ADAPTER" link2="LH_FOOT" reason="Adjacent"/>
<disable_collisions link1="RF_ADAPTER" link2="RF_SHANK" reason="Adjacent" /> <disable_collisions link1="LH_ADAPTER" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" /> <disable_collisions link1="LH_ADAPTER" link2="LH_SHANK" reason="Adjacent"/>
<disable_collisions link1="LH_ADAPTER" link2="LH_THIGH" reason="Never"/>
<disable_collisions link1="base" link2="imu_link" reason="Adjacent" /> <disable_collisions link1="LH_ADAPTER" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="LH_ADAPTER" link2="j2s6s200_link_1" reason="Never"/>
<!-- Need to check these 4 ? there may be auto-collisions ... --> <disable_collisions link1="LH_ADAPTER" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" /> <disable_collisions link1="LH_ADAPTER" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" /> <disable_collisions link1="LH_FOOT" link2="LH_HIP" reason="Never"/>
<disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" /> <disable_collisions link1="LH_FOOT" link2="LH_SHANK" reason="Never"/>
<disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" /> <disable_collisions link1="LH_FOOT" link2="LH_THIGH" reason="Never"/>
<disable_collisions link1="LH_FOOT" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="LH_FOOT" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="LH_FOOT" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="LH_FOOT" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="LH_SHANK" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="LH_THIGH" reason="Adjacent"/>
<disable_collisions link1="LH_HIP" link2="RF_ADAPTER" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="RF_FOOT" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="RF_SHANK" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="RF_THIGH" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="base" reason="Adjacent"/>
<disable_collisions link1="LH_HIP" link2="imu_link" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="j2s6s200_link_2" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="j2s6s200_link_3" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="LH_HIP" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="LH_SHANK" link2="LH_THIGH" reason="Adjacent"/>
<disable_collisions link1="LH_SHANK" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="LH_SHANK" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="LH_SHANK" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="LH_SHANK" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="LH_SHANK" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="RF_THIGH" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="base" reason="Default"/>
<disable_collisions link1="LH_THIGH" link2="imu_link" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="LH_THIGH" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RF_ADAPTER" link2="RF_FOOT" reason="Adjacent"/>
<disable_collisions link1="RF_ADAPTER" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="RF_ADAPTER" link2="RF_SHANK" reason="Adjacent"/>
<disable_collisions link1="RF_ADAPTER" link2="RF_THIGH" reason="Never"/>
<disable_collisions link1="RF_ADAPTER" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RF_FOOT" link2="RF_HIP" reason="Never"/>
<disable_collisions link1="RF_FOOT" link2="RF_SHANK" reason="Never"/>
<disable_collisions link1="RF_FOOT" link2="RF_THIGH" reason="Never"/>
<disable_collisions link1="RF_FOOT" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RF_SHANK" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RF_THIGH" reason="Adjacent"/>
<disable_collisions link1="RF_HIP" link2="RH_ADAPTER" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RH_FOOT" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RH_SHANK" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="RH_THIGH" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="base" reason="Adjacent"/>
<disable_collisions link1="RF_HIP" link2="imu_link" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="j2s6s200_link_2" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="RF_HIP" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RF_SHANK" link2="RF_THIGH" reason="Adjacent"/>
<disable_collisions link1="RF_SHANK" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RF_THIGH" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RF_THIGH" link2="RH_THIGH" reason="Never"/>
<disable_collisions link1="RF_THIGH" link2="base" reason="Default"/>
<disable_collisions link1="RH_ADAPTER" link2="RH_FOOT" reason="Adjacent"/>
<disable_collisions link1="RH_ADAPTER" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent"/>
<disable_collisions link1="RH_ADAPTER" link2="RH_THIGH" reason="Never"/>
<disable_collisions link1="RH_ADAPTER" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RH_ADAPTER" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="RH_ADAPTER" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RH_FOOT" link2="RH_HIP" reason="Never"/>
<disable_collisions link1="RH_FOOT" link2="RH_SHANK" reason="Never"/>
<disable_collisions link1="RH_FOOT" link2="RH_THIGH" reason="Never"/>
<disable_collisions link1="RH_FOOT" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RH_FOOT" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="RH_FOOT" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="RH_SHANK" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="RH_THIGH" reason="Adjacent"/>
<disable_collisions link1="RH_HIP" link2="base" reason="Adjacent"/>
<disable_collisions link1="RH_HIP" link2="imu_link" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="j2s6s200_link_2" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="j2s6s200_link_3" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="RH_HIP" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RH_SHANK" link2="RH_THIGH" reason="Adjacent"/>
<disable_collisions link1="RH_SHANK" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RH_SHANK" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="RH_SHANK" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="RH_SHANK" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="RH_THIGH" link2="base" reason="Default"/>
<disable_collisions link1="RH_THIGH" link2="imu_link" reason="Never"/>
<disable_collisions link1="RH_THIGH" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="RH_THIGH" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="RH_THIGH" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="RH_THIGH" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="base" link2="imu_link" reason="Adjacent"/>
<disable_collisions link1="base" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="base" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="base" link2="jaco_front_hatch_support_v2" reason="Adjacent"/>
<disable_collisions link1="base" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="imu_link" link2="j2s6s200_link_1" reason="Never"/>
<disable_collisions link1="imu_link" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="imu_link" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="imu_link" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="j2s6s200_link_1" link2="j2s6s200_link_2" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_1" link2="j2s6s200_link_3" reason="Never"/>
<disable_collisions link1="j2s6s200_link_1" link2="j2s6s200_link_base" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_1" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_1" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="j2s6s200_link_2" link2="j2s6s200_link_3" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_2" link2="j2s6s200_link_4" reason="Never"/>
<disable_collisions link1="j2s6s200_link_2" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="j2s6s200_link_2" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_2" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_4" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_base" reason="Never"/>
<disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_finger_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_finger_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_3" link2="jaco_front_hatch_support_v2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_3" link2="jaco_mounting_block" reason="Never"/>
<disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_5" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_6" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_1" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_2" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_base" link2="jaco_front_hatch_support_v2" reason="Default"/>
<disable_collisions link1="j2s6s200_link_base" link2="jaco_mounting_block" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_finger_1" link2="j2s6s200_link_finger_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_finger_1" link2="j2s6s200_link_finger_tip_1" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_finger_1" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
<disable_collisions link1="j2s6s200_link_finger_2" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
<disable_collisions link1="j2s6s200_link_finger_2" link2="j2s6s200_link_finger_tip_2" reason="Adjacent"/>
<disable_collisions link1="j2s6s200_link_finger_tip_1" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
<disable_collisions link1="jaco_front_hatch_support_v2" link2="jaco_mounting_block" reason="Adjacent"/>
</robot> </robot>
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